fix: use native ES2022 error cause (#5010)

This improves error messages and stack traces. For example:

Before:

Error

at new SubprocessError (.../dist/index.js:41:23)
at ChildProcess.<anonymous> (.../dist/index.js:125:27)
at ChildProcess.emit (node:events:513:28)
at maybeClose (node:internal/child_process:1100:16)
at Process.ChildProcess._handle.onexit (node:internal/child_process:304:5)

After:

SubprocessError: Signal exit from subprocess.
    at ChildProcess.<anonymous> (.../dist/index.js:122:27)
    at ChildProcess.emit (node:events:513:28)
    at maybeClose (node:internal/child_process:1100:16)
    at Process.ChildProcess._handle.onexit (node:internal/child_process:304:5) {
  code: 'ERR_SUBPROCESS_SIGNAL_EXIT',
  signal: 'SIGTERM'
}

packages/@ionic/cli/src/index.ts

@@ -3,6 +3,7 @@ import { readPackageJsonFile } from '@ionic/cli-framework/utils/node';
 import { processExit } from '@ionic/utils-process';
 import * as Debug from 'debug';
 import * as path from 'path';
+import * as util from 'util';
 
 import { IonicNamespace } from './commands';
 import { IPCMessage, IonicContext, IonicEnvironment } from './definitions';
@@ -171,11 +172,7 @@ export async function run(pargv: string[]): Promise<void> {
     } else if (err instanceof BaseError) {
       ienv.log.error(err.message);
     } else {
-      ienv.log.msg(failure(String(err.stack ? err.stack : err)));
-
-      if (err.stack) {
-        debug(failure(String(err.stack)));
-      }
+      ienv.log.rawmsg(failure(util.inspect(err)));
     }
   }
 }

packages/@ionic/cli/src/lib/project/index.ts

@@ -55,9 +55,9 @@ export class ProjectDetailsError extends BaseException {
     /**
      * The underlying error that caused this error.
      */
-    readonly error?: Error
+    cause?: Error
   ) {
-    super(msg);
+    super(msg, { cause });
   }
 }
 
@@ -193,7 +193,7 @@ export class ProjectDetails {
     if (e1) {
       log.error(
         `Error while loading config (project config: ${strong(prettyPath(result.configPath))})\n` +
-        `${e1.error ? `${e1.message}: ${failure(e1.error.toString())}` : failure(e1.message)}. ` +
+        `${e1.cause ? `${e1.message}: ${failure(e1.cause.toString())}` : failure(e1.message)}. ` +
         `Run ${input('ionic init')} to re-initialize your Ionic project. Without a valid project config, the CLI will not have project context.`
       );